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Depth Control of AUV Using a Buoyancy Control Device

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Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

A new method for depth control was developed for a spilled oil and blow out gas tracking autonomous buoy robot called SOTAB-I by adjusting its buoyancy control device. It is aimed to work for any target depth. The new method relies on buoyancy variation model with depth that was established based on experimental data. The depth controller was verified at sea experiments in Toyama bay in Japan and showed good performance. The method could further be adapted to altitude control by combining the altitude data measured from bottom tracking through a progressive depth control. The method was verified by a simulating program and showed that the algorithm succeeded to bring the robot to the target altitude.

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References

  • Choyekh, M., et al. (2014). Vertical water column survey in the Gulf of Mexico using autonomous underwater vehicle SOTAB-I. Marine Technology Society Journal, 88–101.

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Author information

Authors and Affiliations

  1. Department of Naval Architecture and Ocean Engineering, Osaka University, Yamadaoka 2-1 Suita, Osaka, 565-0871, Japan

    Mahdi Choyekh, Naomi Kato, Yasuaki Yamaguchi, Ryan Dewantara, Hidetaka Senga, Hajime Chiba, Muneo Yoshie, Toshinari Tanaka & Eiichi Kobayashi

Authors
  1. Mahdi Choyekh
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  2. Naomi Kato
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  3. Yasuaki Yamaguchi
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  4. Ryan Dewantara
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  5. Hidetaka Senga
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  6. Hajime Chiba
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  7. Muneo Yoshie
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  8. Toshinari Tanaka
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  9. Eiichi Kobayashi
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Corresponding author

Correspondence to Mahdi Choyekh .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Lassonde School of Engineering York Univ Department of Mechanical Engineering, Toronto, Ontario, Canada

    Dan Zhang

  2. Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, Oshawa, Ontario, Canada

    Bin Wei

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© 2017 Springer International Publishing Switzerland

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Choyekh, M. et al. (2017). Depth Control of AUV Using a Buoyancy Control Device. In: Zhang, D., Wei, B. (eds) Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-319-33581-0_34

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  • DOI: https://doi.org/10.1007/978-3-319-33581-0_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33580-3

  • Online ISBN: 978-3-319-33581-0

  • eBook Packages: EngineeringEngineering (R0)

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